Design and prototype testing of TORVEASTRO astronaut robot

Space robots are one of the most promising solutions for on-orbit servicing (OOS) duties like docking, berthing, refuelling, repairing, upgrading, transporting, rescuing, and orbital trash disposal. Numerous enabling techniques and technological demonstration missions have been developed and completed over the past two decades. There have been several successful manned on-orbit service missions, but unmanned service missions have not yet been conducted. Robotic maintenance continues to be an important area of investigation with numerous technical challenges. The research in this PhD thesis focused on the design and testing of TORVEASTRO, an astronaut service robot. The specifications are provided concurrently with the design and simulation, taking into account that the astronaut robot has three identical limbs that use cable-driven actuators. Also, a cable-driven mechanism is designed and built to perform as a revolution joint. The proposed solution to improve the TORVEASTRO limbs is analysed to characterize its operation referring to problems and requirements for its implementation in robotics arms. In the design, the prototype is held up by ropes and chains, so it does not contact any surface. Two sequences are programmed for the demonstration. In the first, the three limbs are moved, bringing them to the height of the robot’s body. In the second sequence, the movement of a limb outward is carried out to observe its functioning when the limb is going to hold an object. In comparison with the simulation results, the test results demonstrated promising behaviour for future development.